From 53786013cdced1cc2da8eb590705b5e460552077 Mon Sep 17 00:00:00 2001 From: shayaf84 Date: Sun, 10 Nov 2024 18:22:53 -0500 Subject: [PATCH] Attempting to fix imu -> navsat link --- urc_localization/config/ekf.yaml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml index 811e48cd..571b37e8 100644 --- a/urc_localization/config/ekf.yaml +++ b/urc_localization/config/ekf.yaml @@ -25,7 +25,7 @@ ekf_filter_node_odom: imu_remove_gravitational_acceleration: true use_control: false - process_noise_covariance: [1e-6,1e-6,1e-3,1e-6,1e-6,0.01,0.5,0.5,0.1,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6] + process_noise_covariance: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,4e-8,4e-8,4e-8,0.00028900000000000003,0.00028900000000000003,0.00028900000000000003] initial_estimate_covariance: [1e-6,1e-6,1e-9,1e-6,1e-6,1e-9,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6] ekf_filter_node_map: @@ -78,7 +78,7 @@ ekf_filter_node_map: imu_remove_gravitational_acceleration: true use_control: false - process_noise_covariance: [1e-6,1e-6,1e-3,1e-6,1e-6,0.01,0.5,0.5,0.1,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6] + process_noise_covariance: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,4e-8,4e-8,4e-8,0.00028900000000000003,0.00028900000000000003,0.00028900000000000003] initial_estimate_covariance: [1e-6,1e-6,1e-9,1e-6,1e-6,1e-9,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6] @@ -87,8 +87,6 @@ navsat_transform: ros__parameters: # Frequency of the main run loop frequency: 30.0 - - imu0: "/imu/data" # Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame. delay: 3.0 magnetic_declination_radians: 0.0